cmake_minimum_required(VERSION 2.8.3)
project(sm_dance_bot_2)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED smacc roscpp move_base_z_client_plugin multirole_sensor_client tf sr_all_events_go sr_event_countdown ros_timer_client sr_conditional ros_publisher_client actionlib actionlib_msgs)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

add_action_files(
   DIRECTORY
   servers/led_action_server/action/
   
   FILES
   LEDControl.action
)

generate_messages(
   DEPENDENCIES
   actionlib_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES sm_dance_bot_2
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)

###########
## Build ##
###########

set(CMAKE_CXX_STANDARD 14)
add_compile_options(-std=c++11) #workaround for ubuntu 16.04, to extinguish

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 include
 ${catkin_INCLUDE_DIRS}
)

add_executable(${PROJECT_NAME} 
              src/sm_dance_bot_2.cpp
              src/clients/cl_led/cl_led.cpp)


## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )

 add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)


 add_executable(temperature_sensor_node_${PROJECT_NAME} servers/temperature_sensor_node/src/temperature_sensor_node.cpp)
 set_target_properties(temperature_sensor_node_${PROJECT_NAME} PROPERTIES OUTPUT_NAME "temperature_sensor_node")

 target_link_libraries(temperature_sensor_node_${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )

 add_executable(led_action_server_node_${PROJECT_NAME} servers/led_action_server/src/led_action_server_node.cpp)
 set_target_properties(led_action_server_node_${PROJECT_NAME} PROPERTIES OUTPUT_NAME "led_action_server_node") 
 target_link_libraries(
   led_action_server_node_${PROJECT_NAME}
   ${catkin_LIBRARIES}
)

add_dependencies(led_action_server_node_${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)



#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
install(PROGRAMS
   servers/service_node_3/src/service_node_3.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS 
  ${PROJECT_NAME}
   temperature_sensor_node_${PROJECT_NAME}
   led_action_server_node_${PROJECT_NAME}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME} temperature_sensor_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )

install(DIRECTORY
    launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

install(DIRECTORY
    config/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)

install(DIRECTORY
    urdf/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)


#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_dance_bot.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)